Highly not recommended. UNcooked yes, cooked no. Cooked bones splinter and come apart differently than uncooked bones and the pieces are much more likely to cause intestinal problems that could cause surgery. I used to know a lady who's dog had to have major surgery when he ate a beef rib and it damaged his intestines. (I'm also aware of people who insist they've feed their dogs cooked bones all their lives and never had issues, not personally something I'd want to risk as I have no control over how the dog chews on it.)

For example, I would feel pretty comfortable giving a big old knuckle bone to a little pug, as there would be little chance the pug could break off a bit.
But I would not want to give a beef rib bone to my setter, as he could probably break off pieces that might get stuck in his gut. But a beef rib bone might be a fine chewy for a yorkie.